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measures will place the measure names over additional columns under the time values, which will be seen later The members in both the rows and columns have plus signs next to them to indicate that they can be expanded Not surprisingly, clicking on one of the plus sign buttons expands that member and shows its children, while the parent remains on the screen Clicking on the plus sign to show the children for that member changes the plus sign to a minus sign, of course There is a way to hide the plus and minus signs; the Options ribbon contains a button labeled +/- Buttons that will toggle the plus and minus signs on and off Even if the plus and minus signs are removed, doubleclicking on the member will either expand or collapse it, depending on its current state Figure 9-7 shows that the year 2003 has been expanded one time to show the semesters of 2003 In addition, a subtotal for the year 2003 now appears in the grid This will be discussed in a moment

The technology comparison then shows that the major advantages of PLT technology are as follows:

Often, when people first start using sensors in robots, they find the results are not quite what they expect Most sensors used in robotics are subject to a great deal of interference, variation, and changing results due to the ever-changing environmental conditions As a result, many people become rather frustrated that the results from the sensors change and give occasional false readings Consider an infrared sensor in a room full of infrared sensors Because the sensor is looking for the light it generates with its infrared emitter, the light generated by other emitters in the room can confuse the detector and cause false readings Similarly, a sonar detector in a noisy room may hear echos and sounds from itself or other sensors that cause false readings Humans suffer similar kinds of problems, but we have amazing abilities to correct the sensory input we obtain When a sailor first walks on a ship, the rolling of the vessel in the waves can make him or her walk a crooked line or stumble around Very quickly, typically in one or two days, the sailor s brain will adjust and compensate for the swaying ship so that the sailor doesn t even realize the boat is swaying after awhile This sophisticated adjustment and compensation is one of the most unique things about the human brain The human brain also combines, or fuses, the input from our vision, inner ear (balance), and pressure in our feet to keep us standing up If one of these types of input changes, our brains can quickly adapt Robots need a similar ability both to combine the sensory input from several sensors and to adapt to changes in the function of the sensors This is done in sophisticated autonomous robots using neural nets, Bayesian networks, genetic algorithms, and other complex computation Your robot need not be this sophisticated to take advantage of sensors, however.

Permanent on-line connection No usage costs as with conventional switched systems Good performance Very good coverage Symmetric, two-way communication Relatively inexpensive, most of the infrastructure is already in place Attractive upgrade path Unique; it provides both telecommunications and energy services simultaneously

Figure 9-7

Some sensors have built-in techniques that clean up the signal they create Sonar detectors, for example, emit a ping in specific sound frequency ranges and ignore input from other frequencies This helps filter noise and avoid interference from other sounds in the sensor s environment Similar approaches are used with infrared detectors using filters and lenses to avoid unwanted wavelengths of light

PLT is a definite and significant last-mile local access technology, but it will not be the only one The use of different complementary technologies is seen as more likely, since each technology offers a different compromise between bandwidth, reach, noise immunity, and cost

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